ME370: KINEMATICS & DYNAMICS OF MACHINERY LAB

Department of Mechanical Engineering,

IIT Bombay

Lab 1
(Study & Application of Kinematic
Linkages & Mechanism)
Date: January 31st 2025

SR No. NAME Roll Number

1. Vishant Kamble 210100171
2. Ananya Meena 210100013
3. Krishna Rathi 210040077
 1. Aim of Experiment:
Study of real-life application of kinematic mechanisms such as
Vehicle Suspension Mechanism

2. Apparatus:
• Cardboard sheets
• Scissors & Box cutter
• Pen/Pencil
• Metal Paper Fasteners/ Pins
• Scale

3. Introduction:
• In this lab we designed two mechanisms based on a system of
kinematic links. The purpose of these mechanisms was to design a
suspension system for a wheel connected to a chassis, such that
when the wheel encounters an irregular surface, it does not tilt
the chassis in any particular direction, but only moves in one
vertical direction. This is also done so that the moving ends of the
mechanism can be easily damped by a single spring attached to
the chassis that compresses and extends only in one direction.
• The two systems of links we used were a 4-bar mechanism and a
6-bar mechanism. In each mechanism the links have to have a
specific shape and ratio of dimensions to ensure the direction of
movement remains linear and vertical.
• In the 4-bar mechanism there are 4 links, consisting of 1 fixed link,
which is the chassis and 3 rotating links. 1 of the links is a
triangular bar that connects to the mechanism on two of its
 vertices and to a damping spring on the other. By varying the
lengths and dimensions of the three-rotating links, relative to the
fixed link, we designed a 4-link mechanism such that the ends of
one of the moving links is constrained to only move in a singular
vertical direction.
• In the 6-bar mechanism we designed a mechanism based on
Watt’s mechanism. This mechanism consisted of the fixed chassis,
two triangular links and three linear links. In this mechanism we
varied the dimensions and angles of the links to make sure one of
the links, which would be connected to the tire would be
constrained to vertically. To design and test quickly, we used thin
cardboard that could be cut easily and paper fasteners that could
be removed and reused.

4. Working Principle:
With one of the cardboard sheets used as a mount-board and
the other used to make the mechanism links, 4-bar and 6-bar
mechanisms are recreated by pinning the links on the mount-
board at suitable positions, such that when the entire
mechanism is tested, the link that represents the wheel stays
vertical or as close to vertical as possible. The links are pinned
using metal fasteners, that can act as pivots for the links that
are supposed to move for the mechanism to work, and also to
attach the fixed link firmly on the mount-board.

FOUR BAR MECHANISM

• Four links of unequal lengths of which one link is ternary
and the rest are binary are used to create the four-bar
mechanism.
• The principle behind this is that when the input link (link 2
in) moves the displacement of the ternary link (output link,
link 4) is parallel to the fixed link.
• The junction of link 3 and link 4 represents the wheel and
link 1 is the fixed link that is supposed to have a spring and
damper (in parallel) to absorb the shock.
• This mechanism is widely used in bicycle suspension
systems.

Figure 1

SIX BAR MECHANISM

• Six links of unequal lengths of which two are ternary and
the rest are binary are used to create the six-bar
mechanism.
• Link 2 represents the wheel.
 • The principle behind this is again similar to the 4-bar
mechanism where the displacement of link 3 is parallel to
the fixed link.
• This system is majorly used in cars.

Figure 2

5. Experimental Procedure:
• To find the ratios of the lengths used, we measured those
given in the bicycle and car for 4 bar and 6 bar linkages
respectively. By multiplying these by a scaling suitable factor
we obtained the actual lengths of the links to be used.
• An additional length (tolerance) was added to the calculated
lengths to account for the diameter of the pins. The width
was kept approximately the same for all links.
• The links were cut out using a box cutter and scissors. The
locations of holes were marked on either end of the
 obtained links, and the holes were carefully punched out
using scissors and fasteners.
• The mount-board was now taken out and the positions of
the holes where the fixed link was supposed to go were
made.
• All the links were placed at their suitable positions on the
mount-board in the right sequence aligning them with the
holes and keeping them on top of each other in such a way
that mobility is ensured.
• Finally, the pins were put in the holes and the ends of the
pins were fastened so that the links remain in place and are
able to move about the pivots.
• The mechanism was tested by holding the link that was
supposed to act as the wheel and moving it vertically and
traced the displacement with a pencil.
• Since the movement was not hindered in any way and the
wheel stayed close to vertical, the mechanism worked
successfully.
• This mechanism can was then used for making the 6-bar
linkage with minor alterations such as the number of links
cut, the length of the links, and the position of the links on
the mount-board.
6. Procedural Mistakes to be avoided:
• In the six-bar linkage due to multiple links and slightly higher
complexity of the mechanism, it is recommended to take
longer link lengths to be able to clearly see the
displacements (this was a mistake in our mechanism)
• Before creating the mechanism, the first thing to check is the
fixed links/points. An error in this completely changes the
mechanism due to change in degrees of freedom of the links.
 (Another mistake which we corrected through the help of
faculty and TAs) Leave high margins for pin diameters and do
not take random measurements. This will lead to a
mechanism that will not work. (Point as discussed by the
faculty).
7. RESULT:
• As seen in figure 1, the rear suspension of a bicycle was created
successfully. This suspension system was created using a 4-bar
linkage mechanism with the provided materials in the lab.
• As given, a fixed link was created (link1) which is the frame of
the cycle.
• As expected, bump, link 2 transferred any motion in the wheel
to link 4 through link 3. When the fastener connecting link 3
and link 4 is moved vertically, the mechanism moves without
restriction.
• Thereafter, link 4 which is connected to the damper transfers
this motion into the damper which absorbs the shock.
• Similarly in figure 2, the front suspension of a four-wheeler
vehicle was successfully created using 6-bar linkage mechanism.
• When link 2 is moved vertically, the mechanism moves without
restriction.
8. Discussion:
• 4 bar mechanism is the simplest mechanism which is used in
the rear suspension of a bicycle and sometimes also in the
suspension of cars.
• 6 bar mechanism is generally used in the front suspension
system of a four-wheeler. The primary advantage of using a 6-
bar mechanism over a 4bar mechanism is that it can achieve a
higher vertical displacement for the same amount of pivot.
9. Conclusion:
• In this experiment we understood the real-life application of
the kinematic mechanisms of the vehicle suspension system.
• We discovered that it is possible to emulate the 4-bar and 6-bar
suspension systems which can show us how even though the
wheel of the vehicle is moving the other part of the suspension
system does not experience a shock.
• The geometry for each of the mechanisms such that the wheel
remains as close to purely vertical as possible when going over
a bump was discovered and the models were prepared
10. Sources of Error:
• The models in no way represent fully the technical aspects of
the suspension systems.
• The actual joints in the suspension system might not be always
free from friction and hence might not be able to rotate freely
(restricted degrees of freedom)
• Absence of damper and spring systems which are instrumental
in absorbing shocks in our suspension model